• Journal of Institute of Control, Robotics and Systems
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• v.17 no.8
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• pp.760-767
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• 2011

The flexibility and evolvability are critical characteristics of modern manufacturing to adapt to changes from products and disturbances in the shop floor. The technologies inspired from biology and nature enable to equip the manufacturing systems with these characteristics. This paper proposes an ant colony inspired autonomous manufacturing system in which the resources on the shop floor are considered as the autonomous entities. Each entity overcomes the disturbance by itself or negotiates with the others. The swarm of cognitive agents with the ant-like pheromone based negotiation mechanism is proposed for controlling the shop floor. The functionality of the developed system is proven on the test bed.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.342-346
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• 1991

산업공정현장에서는 독립적으로 운영되고 있는 프로그램식 단위제어기기들에 대한 연계운영을 위하여 실시간 처리 소규모 네트워크가 도입되어 구축운영되고 있다. 특히 제조생산공정에서는 계층화된 분산 구조로서 공정정보처리를 위하여 공장환경에 적절한 네트워크 구축을 MAP등의 표준화된 규격에 의하여 권고되고 구현되어 운영되고 있다. 본 논문에서는 공장 환경에서의 표준규격으로 제안된 Mini MAP을 기준으로 하여 물리 및 데이타 링크계층을 Petrinet 기법을 활용하여 실시간 처리를 위한 개선된 모델을 제안하고 네트워크의 성능측정 및 시뮬레이션을 수행하였다. 또한 이 모델에 의하여 토큰버스 네트워크를 구성하여 전송 서비스시간과 메세지 처리율을 분석하고 Mini MAP 규격과 함께 성능을 해석하였다.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.4
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• pp.123-129
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• 2001

Recent requirements for the fast and accurate motion in industrial robot manipulators need more advanced control tech-niques. To satisfy the requirements, importance of force control is being continuously increased and the expensive force sensor is usually installed to obtain the contact force information in practice. This information is indispensable for the force control of maintaining the desired contact force. However, the sensor cost is too high to be used in industrial applications. In this paper, it is proposed to estimated the contact force occurring between the end-effector of 2 DOF robots and environ-ment. The contact force estimation system is developed based on the static and dynamic models of 2 DOF robot manipula-tors. where the contact force is described with respect to the link torque. The Extended Kalman Filter is designed and its performance is verified in simulations.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.15 no.4
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• pp.69-73
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• 2006

This paper present the optimal cleaning condition of the out-hull preprocessing robot by Taguchi method in design of experiments. A $L_8(2^4)$ orthogonal array is adopted to study the effect of adjustment parameters. The adjustment parameters consist of robot speed, motor torque, motor speed and tool angle. And the quality feature is selected as surface roughness of sheet metal. Taguchi analysis is performed in order to evaluate the effect of adjustment parameters of the quality feature of cleaning process by $Minitab^{(R)}$.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.6
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• pp.35-42
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• 2008

Most of tasks for vertical surface work in shipyard have been accomplished by human workers. However, such manual work often causes injury to workers, also the production cost becomes high due to increasing individual wage. To cope with the circumstance, shipbuilding companies try to introduce wall-climbing robots for carrying out such kind of tasks. In designing a wall-climbing robot, it is essential to minimize its own weight to improve the performance such as moving speed and power saving. For such purpose. this study proposes a method of optimal design for a wall-climbing robot using a genetic algorithm with multi-objective function. Specifically, the thickness of the robot base is minimized to reduce the weight while maintaining the allowable strength and avoiding the resonance frequencies. The proposed method is applied to the design of a wall-climbing robot, and the result shows that the method is useful at an early design stage.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.17 no.6
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• pp.132-145
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• 2008

We propose a new technique for autonomous navigation and travelling of mobile robot based on ultrasonic sensors through the narrow labyrinth that leave only distance of a few centimeters on each side between the guides and the robot. In our current implementation the ultrasonic sensor system fires at a rate of 100 ms, that is, each of the 8 sensors fires once during each 100 ms interval. This is a very good firing rate, implemented here for optimal performance. This paper presents an extensively tested and verified solution to the problem of obstacle avoidance. Our solution is based on the optimal placement of ultrasonic sensors at strategic locations around the robot. Both the sensor location and the associated navigation algorithm are defined in such a way that only the accurate radial sonar data is used for accurate travelling.

• ICROS
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• v.1 no.2
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• pp.55-62
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• 1995

보통 제조기업을 움직이는 기능을 제품개발기능, 생산기능, 영업기능, 경영관리기능 등으로 나눌 수 있는데, 경영관리기능은 하위 3가지 기능에서 제공되는 정보를 기반으로 운영되는 특징이 있다. 최근 CIM 개념 도입에 의해 기업의 기본기능시스템에 많은 변화를 가져 오고, 이러한 변화는 필연적으로 새로운 형태의 경영관리시스템을 요구하게 될 것으로 전망된다. 즉 CIM이 구축된 상황에서는 생산현장의 모든 데이타를 Real Time으로 포착하고, 이러한 데이타는 공간제약 없이 어느 곳으로도 전송, 공유되며 컴퓨터 계산능력의 향상으로 많은 데이타를 쉽게 추출할 수 있게 된 것이다. 이러한 환경을 충분히 반영한 새로운 경영관리시스템의 재구축은 향후 기업 경쟁력을 결정짓는 주요 요인이 될 것으로 예상된다. 또한 정보시스템의 기능과 구조는 개별기업별로 상이하고 경영환경변화 및 정보기술의 발전에 따라 다르게 구축될 것이므로 여러 기업에 공통적으로 적용가능한 비즈니스 참조모델을 개발함으로써 많은 비용의 재투자 없이 필요한 소프트웨어를 재생산하는 체제의 구축이 필요하다.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.6
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• pp.811-821
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• 1998

A new scheduling algorithm for large scale semiconductor processes is addressed. The difficulties of scheduling for semiconductor fabrication processes are mainly due from repeating production of wafers that experience reentrant flows. Sequence branch algorithm (SBA) is proposed for large real scheduling problems when all processing times are deterministic. The SBA is based on the reachability graph of Petri net of which the several defects such as memory consumption and system deadlock are complemented. Though the SBA shows the solution deviating a little from the optimal solution of mixed integer programming, it is adjustable for large size scheduling problems. Especially, it shows a potential that is capable of handling commercial size problems that are intractable with mathematical programming.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.11 no.3
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• pp.21-27
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• 2002

In this paper, we have developed a Widows 98 version Off-Line Programming System which can simulate a Robot model in 3D Graphics space. The SCARA robot with four joints (FARA SM5)was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Widows 98's GUI environment was also studied. The developing language is Microsoft Visual C++. Graphic 1ibraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.293-293
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• 2000

The SECS(SEMI Equipment Communications Standard) is a standard protocol for communication between equipments and a host in semiconductor processes. This paper proposes the implementation of the HSMS(High-speed SECS Message Services) as an interface for transmission of the SECS messages and SECS-II containing message contents defined as an SEMI standard. The HSMS driver is implemented as a type of the daemon program and several DLL files. The SECS-II composes of the SML(SECS Message Language) file defining the SECS messages, the SML translator being able to interpret and transform the SML, and the data index table being able to refer to SECS messages. We also define the shared parameter to exchange the HSMS header and SECS message between the HSMS and the SECS-II. Eventually, to show the effectiveness of the proposed drivers, we test the SECS communications between equipments and a host using the implemented communication programs.